Conventional industrial robots with the rigid actuation technology have made great progress for humans in fields of automation assembly and manufacturing. With an increasing number needing to interact unstructured environments, there is a need soft capable sustaining large deformation while inducing little pressure or damage when maneuvering through confined spaces. The emergence robotics offers prospect applying actuators as artificial muscles robots, replacing traditional actuators....

Abstract Subject to a voltage, dielectric elastomer (DE) deforms. Voltage‐induced strains of above 100% have been observed when DEs are prestretched, and for certain network structures. Understanding mechanisms large actuation is an active area research. We propose that the voltage‐stretch response may be modified by prestretch, or using polymers with “short” chains. This modification results in suppression elimination electromechanical instability, leading strains. method select design DE,...

Although dielectric elastomers have been extensively studied recently, to date there has little research into application of elastomer actuators undersea robots. This letter focuses on development a jellyfish robot using actuator, which exhibits muscle-like properties including large deformation and high energy density. We carry out experiments test the actuator’s force. Theoretical simulations are conducted analyze performance qualitatively consistent with experiments. The preliminary...

Far greater voltage-actuated deformation is achievable for a dielectric elastomer under equal-biaxial dead load than rigid constraint usually employed. Areal strains of 488% are demonstrated. The suppresses electric breakdown, enabling the to survive snap-through electromechanical instability. breakdown voltage found increase with ramp rate. A nonlinear model viscoelastic elastomers developed and shown be consistent experimental observations.

Abstract Much of the existing literature on dielectric elastomers has focused quasi‐static deformation. However, in some potential applications, elastomer deforms at high frequencies and undergoes nonlinear oscillation. While oscillation been studied many areas science engineering, we are unaware any theoretical analysis elastomers. This paper reports a study dynamic behavior balloon subject to combination pressure voltage. When voltage static, may reach state equilibrium. We determine...

Soft dielectric elastomer actuators (DEAs) exhibit interesting muscle-like behavior for the development of soft robots. However, it is challenging to model these due their material nonlinearity, nonlinear electromechanical coupling, and time-dependent viscoelastic behavior. Most recent studies on DEAs focus issues mechanics, physics, science, while much less importance given quantitative characterization DEAs. In this paper, we present a detailed experimental investigation probing...

This paper theoretically analyzes a dielectric elastomer tube actuator (DETA). Subject to voltage difference between the inner and outer surfaces, reduces in thickness expands length, so that same will induce an even higher electric field. positive feedback may cause thin down drastically, resulting electrical breakdown. We obtain analytical solution of undergoing finite deformation when obeys neo-Hookean model. The critical strain actuation is calculated terms various parameters design....

A combination of experiment and theory shows that dielectric elastomers exhibit complex interplay nonlinear processes. Membranes a elastomer are prepared in various states prestretches by using rigid clamps mechanical forces. Upon actuation voltage, some membranes form wrinkles followed snap-through instability, others without the still fail local instability forming wrinkles. surviving these processes found to attain constant strength, independent state prestretches. Giant voltage-induced...

For many applications of dielectric elastomer actuators, it is desirable to replace the carbon-grease electrodes with stretchable, solid-state electrodes. Here, we attach thin layers a conducting silicone prestrained films an acrylic and achieve voltage-actuated areal strains over 70%. The influence stiffness prestrain studied experimentally theoretically.

Soft-bodied robots, due to their intrinsic compliance, have shown great potential for operating within unstructured environment and interacting with unknown objects. This letter deals automatic design fabrication of soft robots. From a structure point view, we synthesize cable-driven gripper by recasting its mechanical as topology optimization problem. Building on previous work compliant mechanism optimization, model the interactions between objects more practically, in form pressure...

This article presents a versatile soft crawling robot capable of rapid and effective locomotion. The mainly consists two vacuum-actuated spring actuators electrostatic actuators. By programming the actuation sequences different actuators, is able to achieve basic modes locomotion: linear motion turning. Subsequently, we have developed analytical models interpret static performance body, including bending motions. Moreover, an empirical dynamic model also optimize locomotion speed in terms...

Cylindrical actuators are made with dielectric elastomer sheets stiffened fibers in the hoop direction. When a voltage is applied through thickness of sheets, large actuation strains achievable axial direction, or without pre-straining and mechanical loading. For example, 35.8% for cylinder prestrain 40%, 28.6% pre-strain have been achieved any optimization. Furthermore, strain independent aspect ratio cylinder, so that both displacements readily actuated by using long cylinders.

Abstract Transparency is a surprisingly effective method to achieve camouflage and has been widely adapted by natural animals. However, it challenging replicate in synthetic systems. Herein, transparent soft robot developed, which can camouflage. Specifically, this driven dielectric elastomer actuators (DEAs). Transparent stretchable conductive polymers, based on blends of poly(3,4‐ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS) water‐borne polyurethane (WPU), are employed as...

Abstract Cephalopod skin, which is capable of dynamic optical camouflage, environmental perceptions, and herd communication, has long been a source bio‐inspiration for developing soft robots with incredible optoelectronic functions. Yet, challenges still exist in designing stretchable compliant robotic skin high‐level functional integration infinite degrees freedom. Herein, an emerging 2D material, Ti 3 C 2 T x MXene, interfacial engineering strategy are adopted to fabricate the cephalopod...

Jellyfish are among the widely distributed nature creatures that can effectively control fluidic flow around their transparent soft body, thus achieving movements in water and camouflage surrounding environments. Till now, it remains a challenge to replicate both appearance functionalities of jellyfish synthetic systems due lack actuators. In this work, fully robot is developed possess transparency bio-inspired omni motions water. This driven by dielectric elastomer actuators (DEAs) using...

A membrane of a dielectric elastomer coated with compliant electrodes may form wrinkles as the applied voltage is ramped up. We present combination experiment and theory to investigate transition using clamped subject constant force ramp. Two types transitions are identified. In type-I transition, voltage–stretch curve N-shaped, flat wrinkled regions coexist in separate areas membrane. The progresses by nucleation small regions, followed growth at expense until entire wrinkled. By contrast,...

Soft robots have recently evoked extensive attention because of their abilities to work effectively in unstructured environments. As an actuation technology soft robots, dielectric elastomers (DEs) exhibit many intriguing attributes such as large strain and high energy density. This paper presents a novel, DE-based, crawling robot inspired by inchworms. The kinematics the is explored, data-driven model developed facilitate controller design. overall incorporates feedforward controller,...

Dielectric elastomer actuators coupled with liquid have recently been developed as soft pumps, lenses, Braille displays, etc. In this paper, we investigate the performance of a dielectric actuator, which is water. The experiments demonstrate that membrane can achieve giant voltage-induced area strain 1165%, when subject to constant pressure. Both theory and experiment show pressure plays an important role in determining electromechanical behaviour. also suggest actuators, liquid, may suffer...

In the practical applications of actuators, control their deformation or driving force is a key issue. Most recent studies on dielectric elastomer actuators (DEAs) focus issues mechanics, physics, and material science, whereas less importance given to these soft actuators. this paper, we underline nonlinear dynamic model as basis for feedforward approach rubber-based DEA. Experimental evidence shows effectiveness controller. The present study confirms that DEA's trajectory can be finely...